#ifndef LOW_LEVEL_FEATURIZER_H_
#define LOW_LEVEL_FEATURIZER_H_


#include "string"
#include <signal.h> 

#include "cstdio" 

// yarp
#include <yarp/os/all.h>
#include <yarp/sig/all.h>


//ros
#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "pcl_ros/io/bag_io.h"
#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

#include "sys/stat.h"
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <pcl_ros/transforms.h>
using namespace std;
namespace low_level_featurizer
{
	class Low_Level_Featurizer
	{
		public:
			Low_Level_Featurizer(ros::NodeHandle nh);
			void 	run(const sensor_msgs::PointCloud2ConstPtr& cloud2);			
		private:
			ros::NodeHandle* nh3;
			ros::Subscriber *sub;

	};
}
#endif 
